Multiaxial manipulator

ABSTRACT

The present invention pertains to a multiaxial manipulator (1), in which the supply lines (9, 10) for the tool (7) and for the manipulator drives (8) are led in separate bundles of lines and are connected separately. The supply lines (9, 10), led in from the outside, are connected to the relatively stationary base (2) of the manipulator (1), wherein at least the supply lines (10) for the tool (7) are then led inside the base (2) to the moving carousel (3). The supply lines (10) again exit to the outside at the carousel (3) and are then led along the moving manipulator parts (4, 5, 6) to the tool (7). The supply lines (9) for the manipulator drives (8) can also be led in a similar manner on the inside through the base (2) and then on the outside, along the manipulator parts (4, 5, 6). It is recommended that the supply lines (9, 10) be divided into a line section (14, 15) led on the outside and an internal line section (12, 13) installed inside the base, wherein the line sections (12, 13, 14, 15) are connected to the carousel (3) via a connection plate (16). The connection plates (11) may be of a modular design for the cable connections and have standardized connection fields (17) for different types of lines.

FIELD OF THE INVENTION

The present invention pertains to a multiaxial manipulator, especiallyan industrial robot, with supply lines for the tool and the manipulatordrives, are led in from the outside and wherein the supply lines arelaid along the moving members of the manipulator.

BACKGROUND OF THE INVENTION

Such a manipulator has been known from German Offenlegungs-schrift No.DE-OS 32 37 184. The supply lines for the tool are led there from anexternal feeding point to the jib and from there to the tool. Rotatableand pivotable holders are provided for the bundle of lines. This routingof lines has the disadvantage that the supply lines are subject to highmechanical loads. Especially the point of transition from the stationarypower supply to the moving jib of the manipulator is exposed to danger.This line section must follow multiaxial movements in space and iscorrespondingly bent in different directions. The fact that the mobilityof the manipulator is limited by the line routing is alsodisadvantageous.

German Offenlegungsschrift No. DE-OS 34 34 899 discloses anothermanipulator, in which the supply lines for the tool are led from astationary feeding point to the carousel rotatable around the firstprincipal axis. The supply lines are led from there farther to the toolalong the manipulator parts, such as the rocker, jib, and hand. Themechanical loads are already reduced in this routing of the lines. Themobility of the manipulator is, however, still limited. In addition, theline routing is not optimally integrated in the manipulator design inthese two cases corresponding to the state of the art.

SUMMARY AND OBJECTS OF THE INVENTION

The object of the present invention is to provide a manipulator with aline routing that is better integrated and permits a higher degree ofmobility.

According to the invention, a multiaxial manipulator is providedincluding a relatively stationary base and a moving carousel connectedto the base. Movable manipulator parts are connected to the carouselwith a tool connected to the movable manipulator parts. Manipulatordrives are provided connected to the manipulator parts for moving themanipulator parts. Supply lines for the tool are provided in a firstbundle of lines. The first bundle of lines is connected to the statinarybase and extends internally through the base to the moving carousel andextends out of the moving carousel. The first bundle of lines isconnected along the manipulator parts to the tool. Supply lines for themanipulator drives are provided separated from the supply lines with thetool, in a second bundle of lines. The second bundle of lines isconnected to the base and is connected along the moving manipulatorparts.

In the manipulator according to the present invention, the supply linefor the tool and the manipulator drives are led in separate bundles oflines and are connected separately, but they extend extensively inparallel to one another. This makes possible a comprehensive integrationof the lines in the manipulator design, and yet rapid replacement andretrofitting of the supply lines for the tool. The manipulator may alsobe delivered without supply lines for the tool. The supply lines may beconnected and laid subsequently on request. However, the optional layingof these supply lines is inherently provided for and preparations forlaying are made.

The supply lines are divided into a plurality of line sections, whereinthey are subject to defined loads in each line section, and they mustfollow rotations around an individual axis, if need be. Due to the lineconnection at the base, which is relatively stationary in relation tothe feeding point, a stationary supply line, which is subject to lowloads, is obtained. The supply lines are laid in this case on themanipulator in an internal line section, which is done preferably in theform of a flexible loop, which is able to follow the intended rotarymovements of the carousel around the first, mostly vertical principalaxis, without any problem. Due to the internal laying, this line sectionis shorter and more mobile than an external supply line leading to thecarousel, as a result of which obstacles for the manipulator, as well asthe line loads are reduced.

At least the supply lines for the tool are again led out of the interiorspace of the manipulator at the carousel, and are then led to the toolexternally, along the manipulator parts, e.g., the rocker, jib, andhand. This is favorable regarding the load in view of the principal orpivot axes of the manipulator, which extend mostly horizontally. Also,the supply lines are now again freely accessible from the outside.

The present invention has the further advantage that the supply linescan be standardized. The line sections can be tested and optimizedindividually. A modular line design, which is suitable for allapplications of the manipulator and for all tools, is obtained.

According to the state of the art, the line leading to the tool had tobe checked and tested for loads and reliability of operation after eachreplacement of the tool and line. This entailed considerable expense,which recurred with each tool. This is no longer necessary with themodular line design.

The interfaces of the individual line sections are also standardized inthe form of modularly designed connection plates with prepared anddefined connection fields. On the one hand, the connection plates offerthe advantage of fixed connection points of the line ends. On the otherhand, the different supply lines of the tool for electrical, hydraulic,or pneumatic energy supply, test and control signals, cooling agents,etc., are equipped with special couplings, which are designed as insertsfor the connection plates. The size and shape of the different couplinginserts are adapted to the connection fields, and they can thus bereplaced easily, rapidly, and with accurate fit in the case ofreplacement of tools and lines. Connection fields that are not neededcan be covered with a plug.

The possibility of selectively replacing or retrofitting individual linesections is also advantageous. Selective replacement is favorable forrepair and maintenance purposes. The possibility of retrofitting permitsadditions to or conversion of the tool.

The supply lines may be especially adapted to an individual tool and arereplaced together with the individual tool. However, it is also possibleto arrange an interchangeable coupling for different tools on the handof the manipulator and to design the supply lines as trunk lines for allnecessary operating materials. Only the needed lines are now opened forthe tools by suitable line couplings, while the others remain closed.There are further possibilities of variation for the line designs aswell.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention is schematically represented as an example in thedrawings. Specifically,

FIG. 1 shows a side view of a multiaxial manipulator with supply linesfor the tool;

FIG. 2 shows a front view of the manipulator corresponding to arrow IIin FIG. 1; and

FIG. 3 shows a detail view of a clamping device for supply lines and aninsulating tube.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

The drawings show a multiaxial manipulator 1 in the form of anindustrial robot, which has a base 2 with a carousel 3 rotatable on itaround a vertical axis. A rocker 4 is mounted on the carousel 3rotatably around a horizontal pivot axis 29. The rocker 4 is designed asa one-armed rocker and is arranged symmetrically to the central axis orthe axis of rotation of the carousel. A jib 5, which is able to rotatearound a pivot axis 23, which is likewise horizontal, is mounted on oneside at the top end of the rocker 4 via a drag barring 27. The jib 5carries at its end a multiaxial hand 6 of the manipulator. A tool 7,here in the form of spot-welding tongs, is attached to the hand. Drives8 are provided for moving the individual parts of the manipulator. Thethree drives 8' needed for a central hand 6 are arranged at the end ofthe jib 5 in a compactly packed triangular arrangement.

A plurality of drive supply lines 9 are provided for the drives 8 of themanipulator 1. These are power cables for the electrical energy supplyfor the motors, and power cables for test and control signals, etc. As aresult, displacement transducers and shaft encoders load sensors, andsimilar other parts of the manipulators are supplied as well. Lubricantsor cooling agents can also be transported to individual assembly unitsof the manipulator 1.

Tool supply lines 10 separate from the above are provided as well.Depending on the type and the design of the tool, these may be powercables, compressed air hoses, cooling agent lines, hydraulic hoses, andsimilar other lines for operating and auxiliary materials needed by thetool 7.

The supply lines 9, 10 are led separately from one another and areintegrated in first and second bundles of lines 30, 31 respectively.They are led from a feeding point (not shown) to the base 2 of themanipulator 1, and are connected next to each other to a connectionplate 11 in the base wall there. The base 2 is relatively stationary inrelation to the feeding point, so that a stationary supply line isobtained in that area. The base 2 is preferably attached to the floor ora wall, but it may also be arranged on a slide, a portal, or the like.

Over their further course in and along the manipulator 1, the supplylines 9, 10 are divided into sections, namely, an internal line section12, 13, which is laid inside the base 2 to the rotatable carousel 3,which again exits there, and continues in adjoining external linesections 14, 15. The external line section 15 is led along the rocker 4,the jib 5, and the hand 6 to the tool 7, while the external line section14, which is led essentially in parallel thereto, is led along therocker 4 to the drives 8' at the end of the jib 5.

The internal line section 12 for the manipulator drives 8 or other partsor assembly units of the manipulator and the internal line sections 13for the tool 7 are laid in the base 2 in a U-shaped loop each. The twoloops are located opposite each other around the axis of rotation of thecarousel 3, and roll against the base 2 during a relative rotarymovement of the carousel 3.

The internal line section 13 leading to the tool 7 ends at the carousel3 in another connection plate 16 and it again exits here. The externalline section 15 is also connected to the connection plate 16.

The internal line section 12 provided for supplying the manipulator canbe divided into a plurality of individual strands in the base 2 and atthe transition in the carousel 3. Part the individual strands are 8"located at the bottom for the rocker 4 for the carousel 3, as well as toadditional users, if there are any. The other part exits the interiorspace of the carousel 3 to the outside at, or next, to the anotherconnection plate 16. The external line section 14 is led along the rearside of the rocker 4 facing away from the hand drives 8' and issurrounded by a housing 25 in at least some sections. At the top end ofthe rocker, the supply lines 9 pass over the drag bearing 27 by means ofa bridge 24 to the jib 5 and to the drives 8'. The bridge 24 isconnected to the jib 5 and rotates with same around the pivot axis 23.As a result, the external line section 14 follows the movements of thejib.

The supply lines 9 for the drives 8 and for other parts and assemblyunits of the manipulator 1 are necessary for operation and are alwayspresent. The supply lines 10 for the tool 7 are, in contrast, optionaland depend on the type and the design of the tool 7. They are adapted tothe requirements of the tool, which may lead to great differences in thetypes and numbers of the individual lines and consequently in the costas well. The line routing is therefore designed to be such that thesupply lines 10 leading to the tool 7 can also be arranged andretrofitted on a finished and inexpensive standard or mass-producedmanipulator without comprehensive disassembly and assembly operations.

The connection plates 11, 16 are designed as modular connection platesfor this purpose, and they have standardized connection fields 17. Theconnection plates 11, 16 may be divided into different connection fields17. The manipulator's own supply lines 9 are preferably separated intothe external line section 14 and are led via a separate connection atthe carousel 3. As an alternative, it is also possible, however, toprovide connection possibilities for this at the connection plate 16.

The connection plates 11, 16 form the interfaces for the stationarysupply line, and the internal and external line sections 12, 13, 15. Theconnection plates 11, 16 are mounted in the wall of the base 2 or on thecarousel 3, and they offer stationary connection points for the linesections. The line ends are equipped for this purpose with couplings,which are adapted to the actual type of line. The couplings are designedas inserts, which have identical shape and are accommodated in thestandardized connection fields 17. The coupling inserts of the differentlines thus can be interchanged and replaced without problems. Theconnection fields 17 have prepared sockets with fastening means for thecoupling inserts. There are as many sockets in the connection fields 17as needed for maximum supply of the tool as well as for a maximum typeand number of supply lines 10. Unneeded sockets are not occupied, andthey are covered with a plug. It is also possible to provide reserveconnection fields 17 or reserve sockets for the possible futureexpansion of tools.

The supply lines 9, 10 are each led bundled in the area of the loopswithin the base 2 and in the external line sections 14, 15, and aresurrounded by an insulating tube 19. The insulating tubes 19 arefastened in the base 2 via holders at the bottom plate of the base 2 atone end and at the bottom plate of the carousel 3 at the other end. Thelines are thus held together in the bundle and guided during the rotarymovements of the carousel 3. The carousel bearing is designed as a ringof relatively large diameter, through the interior space of which thesupply lines 9, 10 pass over into the housing of the carousel 3. Theyare preferably routed as open bundles here. The supply lines 10 leadingto the tool 7 are held at the ends of the external section 15 by aclamping device 20, 21. As is illustrated in FIG. 3, one clamp 20 holdsthe insulating tube 19, while the clamp 21, which is arranged in frontof it at a slightly spaced location, holds the supply lines 10. It isprovided for this purpose with a separating insert, as is known, forexample, from DE-OS 34 34 899. The individual line strands are clippedinto prepared openings of the disk-shaped insert, and the insert is thenguided in the clamp 21 in a positive-locking manner. Both clamps 20, 21have quick-acting closures 26.

The clamps 20', 21' are attached to the tool 7 separately from oneanother at the top end. This ensures strain relief for the supply lines10 in relation to the insulating tube 19. At the lower end, the clamps20", 21" are attached to a flange, which extends upward in one piecefrom the connection plate 16. The supply lines exposed after the clamps20, 21 are then led in a soft bend to their coupling inserts in theconnection plate 16.

In the external line section 15, the supply lines 10 and the insulatingtube 19 surrounding same is held and led in a plurality of line holders18. The line holders 18 have a housing, which is expanded on both sidesin the form of a trumpet and is mounted rotatably and/or pivotably topivot shafts 29. Two line holders 18 are arranged at the rocker 4 in thearea of the pivot axes 23, but at a laterally paced location therefrom.The jib 5 carries an additional line holder 18 via a spring-loaded arm28. The line holders have a housing that can be opened by hinges withquick-acting closure.

The supply lines 10 can be adapted to a special individual tool 7, e.g.,a welding torch, welding tongs, a spray gun, a mounting head, or othersimilar designs. In this case, they contain only the types of lines thatare necessary for them. The supply lines 10 are also replaced forreplacing the tool.

FIG.1 shows an alternative hereto. The manipulator 1 carries on the hand6 an interchangeable coupling 22, which makes it possible to use andreplace different types of individual tools 7. Various designs of suchinterchangeable couplings 22 have been known. The different individualtools 7 need different supplies. The supply lines 10 are designed as atrunk line with collection coupling inserts for the different types oftools, and they provide all the needed supplies. The supply lines 10 endat the interchangeable coupling 22. The clamps 20', 21', are arranged onthe shaft of the interchangeable coupling 22 in this case. The line endsare provided with closures, which are opened by the individual tool 7attached when needed, but otherwise they remain closed.

    ______________________________________                                        PARTS LIST                                                                    ______________________________________                                               1   Manipulator, industrial robot                                             2   Base, frame                                                               3   Carousel                                                                  4   Rocker                                                                    5   Jib                                                                       6   Hand                                                                      7   Tool                                                                      8   Drive                                                                     9   Supply lines, robot                                                       10  Supply lines, tool                                                        11  Connection plate (tool, robot)                                            12  Internal line section, robot                                              13  Internal line section, tool                                               14  External line section, robot                                              15  External line section, tool                                               16  Connection plate, tool                                                    17  Connection field                                                          18  Line holder                                                               19  Insulating tube                                                           20  Clamp, insulating tube                                                    21  Clamp, supply lines                                                       22  Interchangeable coupling, tool                                            23  Pivot axis                                                                24  Bridge                                                                    25  Housing                                                                   26  Quick-acting closure                                                      27  Drag bearing                                                              28  Spring loaded arm                                                         29  Pivot shafts                                                              30  First bundle of lines                                                     31  Second bundle of lines                                             ______________________________________                                    

I claim:
 1. Multiaxial manipulator, comprising:a relatively stationarybase; a moving carousel connected to said base; movable manipulatorparts connected to said carousel; a tool connected to said movablemanipulator parts; manipulator drives connected to said movablemanipulator parts for moving said manipulator parts; supply lines forsaid tool provided in a first bundle of lines, said first bundle oflines being connected to said stationary base and extending internallythrough said base and said moving carousel, said supply lines of saidtool extending out of said moving carousel and being connected alongsaid manipulator parts to said tool; and supply lines for saidmanipulator drives provided separate from said supply lines for saidtool, in a second bundle of lines, said second bundle of lines beingconnected to said base and being connected along said moving manipulatorparts.
 2. Manipulator according to claim 1 wherein said supply lines forsaid tool are divided into two line sections including an internal linesection and an external line section, said internal line section passingthrough said stationary base and said moving carousel, said internalline section ending at a carousel connection plate at said carousel,said external line section being connected at said carousel connectionplate.
 3. Manipulator according with either claim 1 or 2, wherein saidsupply lines for said manipulator drives are routed in an internal linesection through said base and said carousel and extend outside saidcarousel in a branch, one part of said branch continuing as an externalline section essentially in parallel to said supply lines for said tool,extending to upper manipulator drives, wherein said internal linesections include flexible loop means for coiling and uncoiling insidethe said base.
 4. Manipulator in accordance with either claim 1 or 2,wherein said internal line sections are laid as flexible loop. 5.Manipulator in accordance with claim 2, wherein a base connection plateis arranged at said base for connection of said supply lines, said baseconnection plate and said carousel connection plate being of a modulardesign having standardized connection fields for different types oflines.
 6. Manipulator according to claim 5, wherein said connectionfields include interchangeable coupling inserts, adapted to differenttypes of lines.
 7. Manipulator according to claim 2, wherein saidexternal line section is led in line holders, said line holders beingarranged rotatably at a spaced location from pivot axes of saidmanipulator parts.
 8. Manipulator according to claim 2 furthercomprising:an insulating tube with at least said external line sectionof said supply lines being arranged in said insulating tube; and clampsconnected to one of end side connection points of said insulating tubewith separate clamping points for said insulating tube and said supplylines.
 9. Manipulator according to claim 8, wherein said clamps includequick-acting closures and include a guide insert for individual strandsof supply lines.
 10. Manipulator according to claim 6, wherein saidsupply lines for said tool and said coupling inserts are speciallyadapted to said tool.
 11. Manipulator according to claim 6, wherein saidmanipulator parts are attached to an interchangeable coupling forcoupling said tool to said manipulator parts and for replacing said toolwith another similar tool, said supply lines for said tool and saidcoupling inserts being designed as trunk lines or collection inserts fordifferent tools.
 12. Manipulator according to claim 2, wherein saidmanipulator parts include a rocker and a jib and a bridge connected tothe jib, said external line sections being led along said rocker on aside of said rocker facing away from said jib and said supply lines forsaid manipulator drives being led over a drag bearing in said bridge.13. Manipulator according to claim 1, further comprising a protectivehousing connected to one or more of said manipulator parts, said supplylines being surrounded at least partially by said protective housing.14. Multiaxial manipulator, comprising:a base; a carousel rotatablyconnected to said base; a plurality of movable manipulator partssequentially extending from said carousel; a tool connected to one endof said movable manipulator parts; a plurality of manipulator drivemeans connected to said plurality movable manipulator parts and formoving said plurality of manipulator parts; a plurality of tool supplylines are provided in a first bundle, said first bundle being connectedto said base and extending internally through said base and said movingcarousel, said first bundle then extending out of said moving carouseland being affix along said manipulator parts and connecting to saidtool; drive supply lines being connected to said base and extendingalong said manipulator parts to said plurality of manipulator drivemeans, said drive supply lines are provided in a second bundle separatefrom said first bundle of said tool supply lines.